mujoco-react 9.3.0 → 9.5.0

package/src/spark.tsx

@@ -17,6 +17,13 @@ import {
   useSplatEnvironment,
   useSplatSceneConfig,
 } from './components/VisualScenario';
+import {
+  CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY,
+} from './rendering/cameraFrameCapture';
+import type {
+  CameraFrameCaptureRenderInput,
+  CameraFrameCaptureRenderResult,
+} from './rendering/cameraFrameCapture';
 import type {
   PairedSplatEnvironmentConfig,
   SceneConfig,
@@ -31,6 +38,11 @@ type SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;
 type SparkDisposable = {
   dispose?: () => unknown;
 };
+type SparkCaptureRenderer = {
+  renderer: SparkRendererInstance;
+  width: number;
+  height: number;
+};
 type SparkWorkerMessage = {
   reject?: (error: unknown) => void;
 };
@@ -47,6 +59,123 @@ export type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';
 
 let sparkDisposeRejectionHandlerRegistered = false;
 
+export interface SparkSplatRenderTuning {
+  /** Scale Spark's LoD splat budget for the live viewport. */
+  lodSplatScale?: number;
+  /** Minimum rendered LoD splat size. Higher values trade detail for speed. */
+  lodRenderScale?: number;
+  /** Minimum delay between Spark sort passes for the live viewport. */
+  minSortIntervalMs?: number;
+}
+
+export interface SparkSplatCaptureTuning extends SparkSplatRenderTuning {
+  /** Maximum animation frames to wait for first-capture Spark warm-up. Default: 4. */
+  maxWarmupFrames?: number;
+  /** Number of pixels sampled when deciding whether a capture is blank. Default: 512. */
+  blankSampleCount?: number;
+  /** Alpha threshold used by the blank-capture detector. Default: 8. */
+  blankAlphaThreshold?: number;
+  /** Minimum visible sampled-pixel ratio before retrying capture. Default: 0.02. */
+  blankVisibleRatio?: number;
+  /** Minimum average sampled RGB sum before retrying capture. Default: 3. */
+  blankAverageColor?: number;
+}
+
+type ResolvedSparkSplatCaptureTuning = Required<
+  Pick<
+    SparkSplatCaptureTuning,
+    | 'maxWarmupFrames'
+    | 'blankSampleCount'
+    | 'blankAlphaThreshold'
+    | 'blankVisibleRatio'
+    | 'blankAverageColor'
+  >
+> &
+  SparkSplatRenderTuning;
+
+function getDefaultLiveRenderTuning(
+  lod: SparkSplatEnvironmentProps['lod']
+): SparkSplatRenderTuning {
+  return {
+    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1 : 0.6,
+    lodRenderScale: lod === false || lod === 'quality' ? undefined : 1.2,
+    minSortIntervalMs: lod === false ? 0 : lod === 'quality' ? 32 : 80,
+  };
+}
+
+function getDefaultCaptureTuning(
+  lod: SparkSplatEnvironmentProps['lod']
+): ResolvedSparkSplatCaptureTuning {
+  return {
+    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1.25 : 1.15,
+    lodRenderScale: lod === false ? undefined : 0.6,
+    minSortIntervalMs: 0,
+    maxWarmupFrames: 4,
+    blankSampleCount: 512,
+    blankAlphaThreshold: 8,
+    blankVisibleRatio: 0.02,
+    blankAverageColor: 3,
+  };
+}
+
+function resolveRenderTuning(
+  defaults: SparkSplatRenderTuning,
+  tuning: SparkSplatRenderTuning | undefined
+): SparkSplatRenderTuning {
+  return {
+    lodSplatScale: tuning?.lodSplatScale ?? defaults.lodSplatScale,
+    lodRenderScale: tuning?.lodRenderScale ?? defaults.lodRenderScale,
+    minSortIntervalMs: tuning?.minSortIntervalMs ?? defaults.minSortIntervalMs,
+  };
+}
+
+function resolveCaptureTuning(
+  lod: SparkSplatEnvironmentProps['lod'],
+  tuning: SparkSplatCaptureTuning | undefined
+): ResolvedSparkSplatCaptureTuning {
+  const defaults = getDefaultCaptureTuning(lod);
+  return {
+    ...resolveRenderTuning(defaults, tuning),
+    maxWarmupFrames: tuning?.maxWarmupFrames ?? defaults.maxWarmupFrames,
+    blankSampleCount: tuning?.blankSampleCount ?? defaults.blankSampleCount,
+    blankAlphaThreshold:
+      tuning?.blankAlphaThreshold ?? defaults.blankAlphaThreshold,
+    blankVisibleRatio: tuning?.blankVisibleRatio ?? defaults.blankVisibleRatio,
+    blankAverageColor: tuning?.blankAverageColor ?? defaults.blankAverageColor,
+  };
+}
+
+function waitForNextAnimationFrame() {
+  return new Promise<void>((resolve) => {
+    requestAnimationFrame(() => resolve());
+  });
+}
+
+function isMostlyBlankCapture(
+  pixels: Uint8Array,
+  tuning: ResolvedSparkSplatCaptureTuning
+) {
+  const sampleCount = Math.max(1, Math.floor(tuning.blankSampleCount));
+  const stride = Math.max(4, Math.floor(pixels.length / sampleCount / 4) * 4);
+  let sampled = 0;
+  let visible = 0;
+  let colorTotal = 0;
+
+  for (let i = 0; i < pixels.length; i += stride) {
+    const alpha = pixels[i + 3];
+    const color = pixels[i] + pixels[i + 1] + pixels[i + 2];
+    sampled += 1;
+    if (alpha > tuning.blankAlphaThreshold) visible += 1;
+    colorTotal += color;
+  }
+
+  if (sampled === 0) return true;
+  return (
+    visible / sampled < tuning.blankVisibleRatio ||
+    colorTotal / sampled < tuning.blankAverageColor
+  );
+}
+
 export interface SparkSplatLifecycle {
   status: SparkSplatStatus;
   error: Error | null;
@@ -72,6 +201,10 @@ export interface SparkSplatEnvironmentState {
 export interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {
   /** Enable Spark LoD handling for large splat assets. Default: true. */
   lod?: boolean | 'quality';
+  /** Tune Spark's live viewport renderer. Defaults favor interactive FPS. */
+  renderTuning?: SparkSplatRenderTuning;
+  /** Tune Spark camera-frame capture. Defaults favor sharper snapshots. */
+  captureTuning?: SparkSplatCaptureTuning;
   /**
    * Hide meshes whose names include floor, ground, or plane while the splat is
    * active. This mirrors the common hybrid-rendering setup where MJCF keeps
@@ -230,6 +363,8 @@ export function SparkSplatEnvironment({
   showPlaceholder,
   children,
   lod = true,
+  renderTuning,
+  captureTuning,
   hideGroundMeshes = false,
   onStatusChange,
   onLoad,
@@ -238,6 +373,7 @@ export function SparkSplatEnvironment({
 }: SparkSplatEnvironmentProps) {
   const groupRef = useRef<THREE.Group>(null);
   const sparkRef = useRef<SparkRendererInstance | null>(null);
+  const captureSparkRef = useRef<SparkCaptureRenderer | null>(null);
   const meshRef = useRef<SparkSplatMeshInstance | null>(null);
   const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);
   const onStatusChangeRef = useRef(onStatusChange);
@@ -253,6 +389,29 @@ export function SparkSplatEnvironment({
     format,
     collisionProxy: collisionProxyMetadata,
   });
+  const resolvedRenderTuning = useMemo(
+    () => resolveRenderTuning(getDefaultLiveRenderTuning(lod), renderTuning),
+    [
+      lod,
+      renderTuning?.lodRenderScale,
+      renderTuning?.lodSplatScale,
+      renderTuning?.minSortIntervalMs,
+    ]
+  );
+  const resolvedCaptureTuning = useMemo(
+    () => resolveCaptureTuning(lod, captureTuning),
+    [
+      captureTuning?.blankAlphaThreshold,
+      captureTuning?.blankAverageColor,
+      captureTuning?.blankSampleCount,
+      captureTuning?.blankVisibleRatio,
+      captureTuning?.lodRenderScale,
+      captureTuning?.lodSplatScale,
+      captureTuning?.maxWarmupFrames,
+      captureTuning?.minSortIntervalMs,
+      lod,
+    ]
+  );
 
   useEffect(() => {
     onStatusChangeRef.current = onStatusChange;
@@ -282,6 +441,11 @@ export function SparkSplatEnvironment({
       hiddenMeshesRef.current = [];
     }
 
+    function disposeCaptureSpark() {
+      safelyDisposeSparkResource(captureSparkRef.current?.renderer);
+      captureSparkRef.current = null;
+    }
+
     async function loadSplat() {
       if (!metadata.src) {
         setLifecycleStatus('idle');
@@ -306,7 +470,67 @@ export function SparkSplatEnvironment({
         const spark = new sparkModule.SparkRenderer({
           renderer: gl,
           onDirty: invalidate,
+          ...resolvedRenderTuning,
         });
+        spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({
+          scene,
+          camera,
+          width,
+          height,
+        }: CameraFrameCaptureRenderInput): Promise<CameraFrameCaptureRenderResult> => {
+          let captureSpark = captureSparkRef.current;
+          if (
+            !captureSpark ||
+            captureSpark.width !== width ||
+            captureSpark.height !== height
+          ) {
+            disposeCaptureSpark();
+            captureSpark = {
+              renderer: new sparkModule.SparkRenderer({
+                renderer: gl,
+                autoUpdate: false,
+                lodSplatScale: resolvedCaptureTuning.lodSplatScale,
+                lodRenderScale: resolvedCaptureTuning.lodRenderScale,
+                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,
+                target: {
+                  width,
+                  height,
+                },
+              }),
+              width,
+              height,
+            };
+            captureSparkRef.current = captureSpark;
+          }
+
+          const captureRenderer = captureSpark.renderer;
+          const maxWarmupFrames = Math.max(
+            1,
+            Math.floor(resolvedCaptureTuning.maxWarmupFrames)
+          );
+          let pixels: Uint8Array | undefined;
+          for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {
+            captureRenderer.renderSize.set(width, height);
+            await captureRenderer.update({ scene, camera });
+            pixels = await captureRenderer.renderReadTarget({
+              scene,
+              camera,
+            });
+            if (
+              captureRenderer.activeSplats > 0 &&
+              !isMostlyBlankCapture(pixels, resolvedCaptureTuning)
+            ) {
+              break;
+            }
+            if (attempt < maxWarmupFrames - 1) {
+              await waitForNextAnimationFrame();
+            }
+          }
+          if (!pixels) {
+            throw new Error('Spark camera frame capture did not produce pixels.');
+          }
+          return { pixels, width, height, flipY: true };
+        };
         const mesh = new sparkModule.SplatMesh({
           url: metadata.src,
           lod,
@@ -368,6 +592,8 @@ export function SparkSplatEnvironment({
         safelyDisposeSparkResource(sparkRef.current);
         sparkRef.current = null;
       }
+
+      disposeCaptureSpark();
     };
   }, [
     gl,
@@ -376,6 +602,17 @@ export function SparkSplatEnvironment({
     lod,
     metadata.format,
     metadata.src,
+    resolvedCaptureTuning.blankAlphaThreshold,
+    resolvedCaptureTuning.blankAverageColor,
+    resolvedCaptureTuning.blankSampleCount,
+    resolvedCaptureTuning.blankVisibleRatio,
+    resolvedCaptureTuning.lodRenderScale,
+    resolvedCaptureTuning.lodSplatScale,
+    resolvedCaptureTuning.maxWarmupFrames,
+    resolvedCaptureTuning.minSortIntervalMs,
+    resolvedRenderTuning.lodRenderScale,
+    resolvedRenderTuning.lodSplatScale,
+    resolvedRenderTuning.minSortIntervalMs,
   ]);
 
   return (
@@ -396,7 +633,10 @@ export function SparkSplatEnvironment({
   );
 }
 
-function safelyDisposeSparkResource(resource: SparkDisposable) {
+function safelyDisposeSparkResource(
+  resource: SparkDisposable | null | undefined
+) {
+  if (!resource) return;
   try {
     silenceSparkWorkerTerminateRejections(resource);
     const result = resource.dispose?.();

package/src/types.ts

@@ -843,6 +843,7 @@ export interface DebugProps {
   showGeoms?: boolean;
   showSites?: boolean;
   showJoints?: boolean;
+  showCameras?: boolean;
   showContacts?: boolean;
   showCOM?: boolean;
   showInertia?: boolean;
@@ -928,8 +929,8 @@ export interface PairedSplatEnvironmentConfig {
   description?: string;
   /** Visual-only Gaussian splat asset. */
   splat: SplatAssetConfig;
-  /** MJCF/XML contact geometry paired with the visual splat. */
-  collisionProxy: SplatCollisionProxyConfig & { xmlPath: string };
+  /** Optional MJCF/XML contact geometry paired with the visual splat. */
+  collisionProxy?: SplatCollisionProxyConfig & { xmlPath: string };
 }
 
 export const SplatEnvironmentReadinessStatus = {
@@ -970,6 +971,48 @@ export interface SplatEnvironmentMetadata {
   userData: Record<string, unknown>;
 }
 
+export interface ResolvedScenarioCameraConfig {
+  jitter: number;
+  exposure: number;
+  noise: number;
+  blur: number;
+}
+
+export interface ResolvedScenarioMaterialConfig {
+  randomizeObjectColors: boolean;
+  randomizeTableMaterial: boolean;
+  roughness?: number;
+  metalness?: number;
+}
+
+export interface VisualScenarioExecutionContext {
+  scenarioId: string;
+  scenarioLabel: string;
+  variantId?: string;
+  seed: number;
+  lighting: ScenarioLightingPreset;
+  environment?: string;
+  camera: ResolvedScenarioCameraConfig;
+  materials: ResolvedScenarioMaterialConfig;
+  splatEnabled: boolean;
+  splatSrc?: string;
+  splatFormat: SplatFormat;
+  splatRenderer?: SplatRendererKind;
+  collisionProxyXmlPath?: string;
+  collisionProxyStatus?: SplatCollisionProxyConfig['status'];
+  collisionProxyPrimitives: SplatCollisionPrimitive[];
+  readiness: SplatEnvironmentReadiness;
+  transformSource: 'visualScenario.camera';
+}
+
+export interface VisualScenarioExecutionContextInput {
+  scenario?: VisualScenarioConfig;
+  environment?: PairedSplatEnvironmentConfig;
+  renderer?: SplatRendererKind;
+  variantId?: string;
+  enabled?: boolean;
+}
+
 export type SplatSceneInput =
   | PairedSplatEnvironmentConfig
   | VisualScenarioConfig

package/src/vite.ts

@@ -158,7 +158,7 @@ async function scanModel(
   seen: Set<string>,
   names: Record<RegisterKey, Set<string>>
 ) {
-  const normalized = path.normalize(filePath);
+  const normalized = path.resolve(filePath);
   if (seen.has(normalized)) return;
   seen.add(normalized);
 
@@ -174,7 +174,7 @@ async function scanModel(
 
   for (const includePath of collectIncludePaths(xml)) {
     const next = path.resolve(path.dirname(normalized), includePath);
-    if (next.startsWith(root)) await scanModel(next, root, seen, names);
+    if (isPathInsideRoot(next, root)) await scanModel(next, root, seen, names);
   }
 }
 
@@ -346,7 +346,7 @@ function shouldInjectRegisterImport(id: string, root: string, generatedRegister:
   if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;
   const absolute = path.resolve(file);
   if (absolute === generatedRegister) return false;
-  return absolute.startsWith(root);
+  return isPathInsideRoot(absolute, root);
 }
 
 function renderGeneratedImport(id: string, generatedRegister: string): string {
@@ -395,5 +395,10 @@ function shouldRegenerate(file: string, watchedFiles: string[], models: readonly
   if (watchedFiles.includes(absolute)) return true;
   if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;
   const modelDirs = models.map((model) => path.dirname(path.resolve(root, model.file)));
-  return modelDirs.some((dir) => absolute.startsWith(dir));
+  return modelDirs.some((dir) => isPathInsideRoot(absolute, dir));
+}
+
+function isPathInsideRoot(filePath: string, root: string): boolean {
+  const relative = path.relative(path.resolve(root), path.resolve(filePath));
+  return relative === '' || (relative !== '' && !relative.startsWith('..') && !path.isAbsolute(relative));
 }

package/dist/chunk-T3GVZJ4F.js.map

@@ -1 +0,0 @@
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport type React from 'react';\nimport type { ReactNode } from 'react';\nimport type { CanvasProps, ThreeElements } from '@react-three/fiber';\nimport * as THREE from 'three';\n\n// ---- Register (type-safe named resources) ----\n\n/**\n * Module augmentation interface for type-safe resource names.\n *\n * Declare your model's resource names via module augmentation:\n * ```ts\n * declare module 'mujoco-react' {\n *   interface Register {\n *     robots: {\n *       panda: {\n *         actuators: 'joint1' | 'joint2' | 'gripper';\n *         sensors: 'force_sensor' | 'torque_sensor';\n *         bodies: 'link0' | 'link1' | 'hand';\n *       };\n *     };\n *     actuators: 'joint1' | 'joint2' | 'gripper';\n *     sensors: 'force_sensor' | 'torque_sensor';\n *     bodies: 'link0' | 'link1' | 'hand';\n *   }\n * }\n * ```\n *\n * When no augmentation is declared, all names fall back to `string`.\n */\nexport interface Register {}\n\nexport type RegisteredRobotMap = Register extends { robots: infer T extends Record<string, Record<string, string>> }\n  ? 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T : string;\nexport type Sensors = Register extends { sensors: infer T extends string } ? T : string;\nexport type Bodies = Register extends { bodies: infer T extends string } ? T : string;\nexport type Joints = Register extends { joints: infer T extends string } ? T : string;\nexport type Sites = Register extends { sites: infer T extends string } ? T : string;\nexport type Geoms = Register extends { geoms: infer T extends string } ? T : string;\nexport type Keyframes = Register extends { keyframes: infer T extends string } ? T : string;\nexport type Cameras = Register extends { cameras: infer T extends string } ? 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T): T {\n  const contacts = data.contact;\n  try {\n    return read(contacts);\n  } finally {\n    contacts.delete?.();\n  }\n}\n\n/**\n * Minimal interface for MuJoCo Model to avoid 'any'.\n */\nexport interface MujocoModel {\n  // Counts\n  nbody: number;\n  ngeom: number;\n  nsite: number;\n  nu: number;\n  njnt: number;\n  nq: number;\n  nv: number;\n  nkey: number;\n  nsensor: number;\n  nsensordata: number;\n  nlight: number;\n  ntendon: number;\n  nflex: number;\n  nmesh: number;\n  nmat: number;\n  ncam?: number;\n\n  // Name tables\n  names: Int8Array;\n  name_bodyadr: Int32Array;\n  name_jntadr: Int32Array;\n  name_geomadr: Int32Array;\n  name_siteadr: Int32Array;\n  name_actuatoradr: Int32Array;\n  name_keyadr: Int32Array;\n  name_sensoradr: Int32Array;\n  name_tendonadr: Int32Array;\n  name_camadr?: Int32Array;\n\n  // Body\n  body_mass: Float64Array;\n  body_parentid: Int32Array;\n  body_jntnum: Int32Array;\n  body_jntadr: Int32Array;\n  body_pos: Float64Array;\n  body_quat: Float64Array;\n  body_geomnum: Int32Array;\n  body_geomadr: Int32Array;\n  body_inertia: Float64Array;\n\n  // Default configuration\n  qpos0: Float64Array;\n\n  // Joint\n  jnt_qposadr: Int32Array;\n  jnt_dofadr: Int32Array;\n  jnt_type: Int32Array;\n  jnt_range: Float64Array;\n  jnt_bodyid: Int32Array;\n  jnt_pos: Float64Array;\n  jnt_axis: Float64Array;\n  jnt_limited: Uint8Array;\n\n  // Geom\n  geom_group: Int32Array;\n  geom_type: Int32Array;\n  geom_size: Float64Array;\n  geom_pos: Float64Array;\n  geom_quat: Float64Array;\n  geom_matid: Int32Array;\n  geom_rgba: Float32Array;\n  geom_dataid: Int32Array;\n  geom_bodyid: Int32Array;\n  geom_contype: Int32Array;\n  geom_conaffinity: Int32Array;\n  geom_friction: Float64Array;\n\n  // Material\n  mat_rgba: Float32Array;\n\n  // Mesh\n  mesh_vertadr: Int32Array;\n  mesh_vertnum: Int32Array;\n  mesh_faceadr: Int32Array;\n  mesh_facenum: Int32Array;\n  mesh_vert: Float32Array;\n  mesh_face: Int32Array;\n  mesh_normal: Float32Array;\n\n  // Site\n  site_bodyid: Int32Array;\n\n  // Actuator\n  actuator_trnid: Int32Array;\n  actuator_ctrlrange: Float64Array;\n  actuator_trntype: Int32Array;\n  actuator_gainprm: Float64Array;\n  actuator_biasprm: Float64Array;\n\n  // Sensor\n  sensor_type: Int32Array;\n  sensor_dim: Int32Array;\n  sensor_adr: Int32Array;\n  sensor_objtype: Int32Array;\n  sensor_objid: Int32Array;\n\n  // Keyframe\n  key_qpos: Float64Array;\n  key_ctrl: Float64Array;\n  key_time: Float64Array;\n  key_qvel: Float64Array;\n\n  // Light\n  light_pos: Float64Array;\n  light_dir: Float64Array;\n  light_diffuse: Float32Array;\n  light_specular: Float32Array;\n  light_type: Int32Array;\n  light_active: Uint8Array;\n  light_castshadow: Uint8Array;\n  light_attenuation: Float32Array;\n  light_cutoff: Float32Array;\n  light_exponent: Float32Array;\n  light_intensity: Float32Array;\n\n  // Camera\n  cam_bodyid?: Int32Array;\n  cam_pos?: Float64Array;\n  cam_quat?: Float64Array;\n  cam_fovy?: Float64Array;\n\n  // Tendon\n  ten_wrapadr: Int32Array;\n  ten_wrapnum: Int32Array;\n  ten_range: Float64Array;\n  ten_rgba: Float32Array;\n  ten_width: Float64Array;\n\n  // Flex\n  flex_vertadr: Int32Array;\n  flex_vertnum: Int32Array;\n  flex_faceadr: Int32Array;\n  flex_facenum: Int32Array;\n  flex_face: Int32Array;\n  flex_rgba: Float32Array;\n\n  // Model options\n  opt: {\n    timestep: number;\n    gravity: Float64Array;\n    integrator: number;\n    [key: string]: unknown;\n  };\n\n  delete: () => void;\n  [key: string]: unknown;\n}\n\n/**\n * Minimal interface for MuJoCo Data to avoid 'any'.\n */\nexport interface MujocoData {\n  time: number;\n  qpos: Float64Array;\n  qvel: Float64Array;\n  ctrl: Float64Array;\n  act: Float64Array;\n  xpos: Float64Array;\n  xquat: Float64Array;\n  xfrc_applied: Float64Array;\n  qfrc_applied: Float64Array;\n  qfrc_bias: Float64Array;\n  site_xpos: Float64Array;\n  site_xmat: Float64Array;\n  cam_xpos?: Float64Array;\n  cam_xmat?: Float64Array;\n  xmat?: Float64Array;\n  sensordata: Float64Array;\n  ncon: number;\n  contact: MujocoContactArray;\n  cvel: Float64Array;\n  cfrc_ext: Float64Array;\n  ten_length: Float64Array;\n  wrap_xpos: Float64Array;\n  ten_wrapadr: Int32Array;\n  flexvert_xpos: Float64Array;\n  geom_xpos: Float64Array;\n  geom_xmat: Float64Array;\n  delete: () => void;\n  [key: string]: unknown;\n}\n\n/**\n * Minimal interface for the MuJoCo WASM Module.\n */\nexport interface MujocoModule {\n  MjModel: {\n    from_xml_path?: (path: string) => MujocoModel;\n    from_xml_string?: (xml: string, vfs?: unknown) => MujocoModel;\n    loadFromXML?: (path: string) => MujocoModel;\n    [key: string]: unknown;\n  };\n  MjData: new (model: MujocoModel) => MujocoData;\n  MjvOption: new () => { delete: () => void; [key: string]: unknown };\n  mj_forward: (m: MujocoModel, d: MujocoData) => void;\n  mj_step: (m: MujocoModel, d: MujocoData) => void;\n  mj_resetData: (m: MujocoModel, d: MujocoData) => void;\n  mj_step1: (m: MujocoModel, d: MujocoData) => void;\n  mj_step2: (m: MujocoModel, d: MujocoData) => void;\n  mj_applyFT: (\n    model: MujocoModel,\n    data: MujocoData,\n    force: Float64Array,\n    torque: Float64Array,\n    point: Float64Array,\n    bodyId: number,\n    qfrc_target: Float64Array\n  ) => void;\n  mj_ray: (\n    model: MujocoModel,\n    data: MujocoData,\n    pnt: Float64Array,\n    vec: Float64Array,\n    geomgroup: Uint8Array | null,\n    flg_static: number,\n    bodyexclude: number,\n    geomid: Int32Array\n  ) => number;\n  mj_name2id: (model: MujocoModel, type: number, name: string) => number;\n  mjtObj: Record<string, number>;\n  mjtGeom: Record<string, number | {value: number}>;\n  mjtJoint: Record<string, number | {value: number}>;\n  mjtSensor: Record<string, number | {value: number}>;\n  FS: {\n      writeFile: (path: string, content: string | Uint8Array) => void;\n      readFile: (path: string, opts?: { encoding: string }) => string | Uint8Array;\n      mkdir: (path: string) => void;\n      unmount: (path: string) => void;\n  };\n  [key: string]: unknown;\n}\n\n// ---- Scene Configuration ----\n\nexport interface SceneObject {\n  name: string;\n  type: 'box' | 'sphere' | 'cylinder';\n  size: [number, number, number];\n  position: [number, number, number];\n  rgba: [number, number, number, number];\n  mass?: number;\n  freejoint?: boolean;\n  friction?: string;\n  solref?: string;\n  solimp?: string;\n  condim?: number;\n  /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n  group?: number;\n}\n\nexport interface XmlPatch {\n  target: string;\n  inject?: string;\n  injectAfter?: string;\n  replace?: [string, string];\n}\n\nexport type LocalMujocoFile = File;\n\nexport interface LoadFromFilesOptions {\n  /** Entry MJCF/URDF file. Inferred from scene.xml, model.xml, robot.xml, or the first XML/URDF file when omitted. */\n  sceneFile?: string;\n  /** Additional MJCF environment XML files merged into the entry scene before MuJoCo compilation. */\n  environmentFiles?: string[];\n  homeJoints?: number[];\n  xmlPatches?: XmlPatch[];\n  sceneObjects?: SceneObject[];\n  onReset?: (input: ResetCallbackInput) => void;\n}\n\nexport interface SceneConfig {\n  /** Base URL for fetching model files. The loader fetches `src + sceneFile` and follows dependencies. */\n  src: string;\n  /** Entry MJCF XML or URDF file name, e.g. 'scene.xml' or 'robot.urdf'. */\n  sceneFile: string;\n  /** Browser-selected files for local MJCF/URDF loading. Preserves webkitRelativePath when available. */\n  files?: readonly LocalMujocoFile[];\n  /**\n   * Additional MJCF environment XML files merged into the entry scene before compilation.\n   *\n   * Use this for static collision/physics layers such as a Gaussian-splat\n   * environment's proxy `scene.xml`; render the splat itself as a separate\n   * visual layer.\n   */\n  environmentFiles?: string[];\n  sceneObjects?: SceneObject[];\n  homeJoints?: number[];\n  xmlPatches?: XmlPatch[];\n  onReset?: (input: ResetCallbackInput) => void;\n}\n\n// ---- IK Controller Config ----\n\nexport type ResourceSelector<TInfo, TName extends string = string> =\n  | TName\n  | readonly TName[]\n  | RegExp\n  | ((info: TInfo) => boolean);\n\nexport interface IkConfig {\n  /** MuJoCo site name for IK target. */\n  siteName: Sites;\n  /**\n   * Explicit joints for IK. When omitted, the controller infers scalar hinge/slide\n   * joints by walking from the site body to the model root.\n   */\n  joints?: ResourceSelector<JointInfo, Joints>;\n  /** Explicit actuators for IK control output. */\n  actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n  /**\n   * Number of joints to solve for, assuming legacy contiguous qpos/ctrl layout\n   * starting at index 0. Prefer inferred IK or `joints`/`actuators`.\n   */\n  numJoints?: number;\n  /** Custom IK solver. When omitted, uses built-in Damped Least-Squares solver. */\n  ikSolveFn?: IKSolveFn;\n  /** DLS damping. Default: 0.01. */\n  damping?: number;\n  /** Max solver iterations. Default: 50. */\n  maxIterations?: number;\n}\n\nexport interface IkContextValue {\n  ikEnabledRef: React.RefObject<boolean>;\n  ikCalculatingRef: React.RefObject<boolean>;\n  ikTargetRef: React.RefObject<THREE.Group>;\n  siteIdRef: React.RefObject<number>;\n  setIkEnabled: (enabled: boolean) => void;\n  moveTarget: (pos: THREE.Vector3, duration?: number) => void;\n  syncTargetToSite: () => void;\n  solveIK: (input: IkSolveInput) => number[] | null;\n  getGizmoStats: () => { pos: THREE.Vector3; rot: THREE.Euler } | null;\n}\n\nexport interface SceneMarker {\n  id: number;\n  position: THREE.Vector3;\n  label: string;\n}\n\n// ---- Physics Config (spec 1.1) ----\n\nexport interface PhysicsConfig {\n  gravity?: [number, number, number];\n  timestep?: number;\n  substeps?: number;\n  paused?: boolean;\n  speed?: number;\n}\n\n// ---- IK ----\n\nexport type IKSolveFn = (\n  input: IkSolveInput\n) => number[] | null;\n\nexport interface IkSolveInput {\n  position: THREE.Vector3;\n  quaternion: THREE.Quaternion;\n  currentQ: number[];\n  context?: IKSolveContext;\n}\n\nexport interface IKSolveContext {\n  model: MujocoModel;\n  data: MujocoData;\n  siteId: number;\n  controlGroup: ControlGroupInfo;\n}\n\n// ---- Callbacks ----\n\nexport interface PhysicsStepInput {\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface ResetCallbackInput extends PhysicsStepInput {}\n\nexport interface ReadyCallbackInput {\n  api: MujocoSimAPI;\n}\n\nexport interface StepCallbackInput {\n  time: number;\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface SelectionCallbackInput {\n  bodyId: number;\n  name: string;\n}\n\nexport type PhysicsStepCallback = (input: PhysicsStepInput) => void;\n\n// ---- State Management (spec 4.1) ----\n\nexport interface StateSnapshot {\n  time: number;\n  qpos: Float64Array;\n  qvel: Float64Array;\n  ctrl: Float64Array;\n  act: Float64Array;\n  qfrc_applied: Float64Array;\n}\n\n// ---- Model Introspection (spec 5.1) ----\n\nexport interface BodyInfo {\n  id: number;\n  name: string;\n  mass: number;\n  parentId: number;\n}\n\nexport interface JointInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  range: [number, number];\n  limited: boolean;\n  bodyId: number;\n  qposAdr: number;\n  dofAdr: number;\n}\n\nexport interface GeomInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  size: [number, number, number];\n  bodyId: number;\n}\n\nexport interface SiteInfo {\n  id: number;\n  name: string;\n  bodyId: number;\n}\n\nexport interface ActuatorInfo {\n  id: number;\n  name: string;\n  range: [number, number];\n}\n\nexport interface ActuatedJointInfo extends JointInfo {\n  actuatorId: number;\n  actuatorName: string;\n  ctrlAdr: number;\n  ctrlRange: [number, number];\n}\n\nexport interface ControlJointInfo extends JointInfo {\n  actuatorId: number | null;\n  actuatorName: string | null;\n  ctrlAdr: number | null;\n  ctrlRange: [number, number] | null;\n}\n\nexport interface ControlGroupSelector {\n  /** Infer a kinematic chain from a MuJoCo site. */\n  siteName?: Sites;\n  /** Infer a kinematic chain from a body. */\n  bodyName?: Bodies;\n  /** Select joints by name, names, regex, or predicate. */\n  joints?: ResourceSelector<JointInfo, Joints>;\n  /** Select actuators by name, names, regex, or predicate. */\n  actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n}\n\nexport interface ControlGroupInfo {\n  /** Joints in solve/control order. */\n  joints: ControlJointInfo[];\n  /** Actuators in control output order. */\n  actuators: ActuatorInfo[];\n  /** qpos addresses for scalar hinge/slide joints. */\n  qposAdr: number[];\n  /** dof addresses for scalar hinge/slide joints. */\n  dofAdr: number[];\n  /** ctrl addresses matching writable actuators. */\n  ctrlAdr: number[];\n  readQpos(data: MujocoData): Float64Array;\n  readCtrl(data: MujocoData): Float64Array;\n  writeQpos(data: MujocoData, values: ArrayLike<number>): void;\n  writeCtrl(data: MujocoData, values: ArrayLike<number>): void;\n}\n\nexport interface SensorInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  dim: number;\n  adr: number;\n}\n\nexport interface CameraInfo {\n  id: number;\n  name: string;\n  bodyId: number;\n  fov: number | null;\n  position: [number, number, number] | null;\n  quaternion: [number, number, number, number] | null;\n}\n\n// ---- Contacts (spec 2.4, 2.5) ----\n\nexport interface ContactInfo {\n  geom1: number;\n  geom1Name: string;\n  geom2: number;\n  geom2Name: string;\n  pos: [number, number, number];\n  depth: number;\n}\n\n// ---- Raycast (spec 7.1) ----\n\nexport interface RayHit {\n  point: THREE.Vector3;\n  bodyId: number;\n  geomId: number;\n  distance: number;\n}\n\n// ---- Model Options (spec 5.3) ----\n\nexport interface ModelOptions {\n  timestep: number;\n  gravity: [number, number, number];\n  integrator: number;\n}\n\n// ---- Trajectory (spec 13.1, 13.2) ----\n\nexport interface TrajectoryFrame {\n  time: number;\n  qpos: Float64Array;\n  qvel?: Float64Array;\n  ctrl?: Float64Array;\n  sensordata?: Float64Array;\n}\n\nexport interface TrajectoryData {\n  frames: TrajectoryFrame[];\n  fps: number;\n}\n\nexport type PlaybackState = 'idle' | 'playing' | 'paused' | 'completed';\n\n// ---- Keyboard Teleop (spec 12.1) ----\n\nexport interface KeyBinding {\n  actuator: Actuators;\n  delta?: number;\n  toggle?: [number, number];\n  set?: number;\n}\n\nexport interface KeyboardTeleopConfig {\n  bindings: Record<string, KeyBinding>;\n  enabled?: boolean;\n}\n\n// ---- Policy (spec 10.1) ----\n\nexport type PolicyVector = Float32Array | Float64Array | number[];\n\nexport interface PolicyObservationInput {\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface PolicyInferenceInput extends PolicyObservationInput {\n  observation: PolicyVector;\n}\n\nexport interface PolicyActionInput extends PolicyInferenceInput {\n  action: PolicyVector;\n}\n\nexport interface PolicyConfig {\n  frequency: number;\n  enabled?: boolean;\n  onObservation: (input: PolicyObservationInput) => PolicyVector;\n  /** Run policy inference. Omit to pass observations directly to `onAction` for custom inline controllers. */\n  infer?: (input: PolicyInferenceInput) => PolicyVector;\n  onAction: (input: PolicyActionInput) => void;\n}\n\n// ---- Observation Builder ----\n\nexport type ObservationOutput = 'float32' | 'float64';\n\nexport interface ObservationConfig {\n  /** Include scalar simulation time. */\n  time?: boolean;\n  /** Include all qpos values. */\n  qpos?: boolean;\n  /** Include all qvel values. */\n  qvel?: boolean;\n  /** Include all ctrl values. */\n  ctrl?: boolean;\n  /** Include all actuator activation values. */\n  act?: boolean;\n  /** Include all raw sensordata values. */\n  sensordata?: boolean;\n  /** Include named sensor values in the configured order. */\n  sensors?: readonly Sensors[];\n  /** Include named site world positions in the configured order. */\n  sites?: readonly Sites[];\n  /** Include world gravity projected into each named body's local frame. */\n  projectedGravity?: Bodies | readonly Bodies[];\n  /** Output array type. Defaults to Float32Array. */\n  output?: ObservationOutput;\n}\n\nexport interface ObservationLayoutItem {\n  name: string;\n  start: number;\n  size: number;\n}\n\nexport interface ObservationResult {\n  values: Float32Array | Float64Array;\n  layout: ObservationLayoutItem[];\n}\n\nexport interface ObservationHandle {\n  /** Read a fresh observation from the current live MuJoCo model/data refs. */\n  read(): ObservationResult;\n  /** Read just the vector values for policy inference. */\n  readValues(): Float32Array | Float64Array;\n}\n\n// ---- Debug Component (spec 6.1) ----\n\nexport interface DebugProps {\n  showGeoms?: boolean;\n  showSites?: boolean;\n  showJoints?: boolean;\n  showContacts?: boolean;\n  showCOM?: boolean;\n  showInertia?: boolean;\n  showTendons?: boolean;\n}\n\n// ---- Component Props ----\n\nexport interface IkGizmoProps {\n  controller: IkContextValue;\n  siteName?: string;\n  scale?: number;\n  onDrag?: (input: IkGizmoDragInput) => void;\n}\n\nexport interface IkGizmoDragInput {\n  position: THREE.Vector3;\n  quaternion: THREE.Quaternion;\n}\n\nexport interface DragInteractionProps {\n  stiffness?: number;\n  showArrow?: boolean;\n}\n\nexport interface SceneLightsProps {\n  /** Override intensity for all MJCF lights. Default: 1.0. */\n  intensity?: number;\n}\n\n// ---- Visual scenarios / 3DGS composition ----\n\nexport type ScenarioLightingPreset = 'studio' | 'warehouse' | 'low-light' | 'splat';\nexport type SplatFormat = 'spz' | 'ply' | 'splat';\nexport type SplatRendererKind = 'spark' | 'custom';\nexport type SplatCollisionPrimitive = 'plane' | 'box' | 'sphere' | 'capsule' | 'mesh';\n\nexport interface ScenarioCameraConfig {\n  jitter?: number;\n  exposure?: number;\n  noise?: number;\n  blur?: number;\n}\n\nexport interface ScenarioMaterialConfig {\n  randomizeObjectColors?: boolean;\n  randomizeTableMaterial?: boolean;\n  roughness?: number;\n  metalness?: number;\n}\n\nexport interface SplatAssetConfig {\n  src: string;\n  /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n  format?: SplatFormat;\n  /** Optional renderer hint. The library does not import renderer-specific code. */\n  renderer?: SplatRendererKind;\n}\n\nexport interface SplatScenarioConfig {\n  enabled: boolean;\n  /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n  format?: SplatFormat;\n  src?: string;\n  requiresCollisionProxy?: boolean;\n  collisionProxy?: SplatCollisionProxyConfig | null;\n}\n\nexport interface SplatCollisionProxyConfig {\n  /** MJCF/XML file or artifact path that provides physics collision for the visual splat. */\n  xmlPath?: string;\n  /** Human-readable status for authoring and validation flows. */\n  status?: 'missing' | 'planned' | 'generated' | 'validated';\n  /** Primitive proxy shapes expected in the MJCF collision proxy. */\n  primitives?: SplatCollisionPrimitive[];\n  /** Optional notes that should travel with scene variants and rollout metadata. */\n  notes?: string[];\n}\n\nexport interface PairedSplatEnvironmentConfig {\n  id: string;\n  label: string;\n  description?: string;\n  /** Visual-only Gaussian splat asset. */\n  splat: SplatAssetConfig;\n  /** MJCF/XML contact geometry paired with the visual splat. */\n  collisionProxy: SplatCollisionProxyConfig & { xmlPath: string };\n}\n\nexport const SplatEnvironmentReadinessStatus = {\n  Disabled: 'disabled',\n  MissingSplat: 'missing-splat',\n  MissingCollisionProxy: 'missing-collision-proxy',\n  UnsupportedFormat: 'unsupported-format',\n  Ready: 'ready',\n} as const;\n\nexport type SplatEnvironmentReadinessStatus =\n  (typeof SplatEnvironmentReadinessStatus)[keyof typeof SplatEnvironmentReadinessStatus];\n\nexport interface SplatEnvironmentReadiness {\n  status: SplatEnvironmentReadinessStatus;\n  ready: boolean;\n  requiresCollisionProxy: boolean;\n  missing: Array<'splat' | 'collisionProxy'>;\n  format?: SplatFormat;\n  renderer?: SplatRendererKind;\n  message: string;\n}\n\nexport interface SplatEnvironmentMetadataInput {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: VisualScenarioConfig;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n}\n\nexport interface SplatEnvironmentMetadata {\n  src?: string;\n  format: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  readiness: SplatEnvironmentReadiness;\n  userData: Record<string, unknown>;\n}\n\nexport type SplatSceneInput =\n  | PairedSplatEnvironmentConfig\n  | VisualScenarioConfig\n  | undefined\n  | null;\n\nexport interface SplatSceneConfigInput {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: SplatRendererKind;\n}\n\nexport interface SplatSceneConfigState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  enabled: boolean;\n  readiness: SplatEnvironmentReadiness;\n}\n\nexport interface VisualScenarioConfig {\n  id?: string;\n  label?: string;\n  seed?: number;\n  lighting?: ScenarioLightingPreset;\n  environment?: string;\n  camera?: ScenarioCameraConfig;\n  materials?: ScenarioMaterialConfig;\n  splat?: SplatScenarioConfig | null;\n}\n\nexport interface ScenarioLightingProps {\n  preset?: ScenarioLightingPreset;\n  intensity?: number;\n  castShadow?: boolean;\n}\n\nexport interface SplatEnvironmentProps extends Omit<ThreeElements['group'], 'ref'> {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: VisualScenarioConfig;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: ReactNode;\n  collisionProxyMetadata?: SplatCollisionProxyConfig;\n  showPlaceholder?: boolean;\n}\n\nexport interface VisualScenarioEffectsProps {\n  scenario?: VisualScenarioConfig;\n  enabled?: boolean;\n  applyBackground?: boolean;\n  applyFog?: boolean;\n  applyRenderer?: boolean;\n  applyMaterials?: boolean;\n  background?: THREE.ColorRepresentation;\n  fogNear?: number;\n  fogFar?: number;\n  materialFilter?: (input: VisualScenarioMaterialFilterInput) => boolean;\n}\n\nexport interface VisualScenarioMaterialFilterInput {\n  object: THREE.Object3D;\n  material: THREE.Material;\n}\n\nexport type TrajectoryInput = TrajectoryFrame[] | number[][];\n\nexport interface TrajectoryPlayerProps {\n  trajectory: TrajectoryInput;\n  fps?: number;\n  speed?: number;\n  loop?: boolean;\n  playing?: boolean;\n  mode?: 'kinematic' | 'physics';\n  onFrame?: (input: TrajectoryFrameCallbackInput) => void;\n  onComplete?: () => void;\n  onStateChange?: (input: TrajectoryStateChangeInput) => void;\n}\n\nexport interface TrajectoryFrameCallbackInput {\n  frameIndex: number;\n  frame: TrajectoryFrame | number[] | undefined;\n}\n\nexport interface TrajectoryStateChangeInput {\n  state: PlaybackState;\n}\n\nexport interface SelectionHighlightProps {\n  bodyId: number | null;\n  color?: string;\n  emissiveIntensity?: number;\n}\n\nexport interface ContactListenerProps {\n  body: Bodies;\n  onContactEnter?: (info: ContactInfo) => void;\n  onContactExit?: (info: ContactInfo) => void;\n}\n\nexport interface BodyProps {\n  name: Bodies;\n  type: 'box' | 'sphere' | 'cylinder';\n  size: [number, number, number];\n  position?: [number, number, number];\n  rgba?: [number, number, number, number];\n  mass?: number;\n  freejoint?: boolean;\n  friction?: string;\n  solref?: string;\n  solimp?: string;\n  condim?: number;\n  /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n  group?: number;\n  children?: ReactNode;\n}\n\n// ---- Public API (spec: full surface) ----\n\nexport interface MujocoSimAPI {\n  // State\n  readonly status: 'loading' | 'ready' | 'error';\n  readonly config: SceneConfig;\n\n  // Simulation control (spec 1.1, 1.2, 1.3)\n  reset(): void;\n  setSpeed(multiplier: number): void;\n  togglePause(): boolean;\n  setPaused(paused: boolean): void;\n  step(n?: number): void;\n  getTime(): number;\n  getTimestep(): number;\n  applyKeyframe(nameOrIndex: Keyframes | number): void;\n\n  // State management (spec 4.1, 4.2, 4.3)\n  saveState(): StateSnapshot;\n  restoreState(snapshot: StateSnapshot): void;\n  setQpos(values: Float64Array | number[]): void;\n  setQvel(values: Float64Array | number[]): void;\n  getQpos(): Float64Array;\n  getQvel(): Float64Array;\n\n  // Actuator / control (spec 3.1)\n  setCtrl(nameOrValues: Actuators | Record<Actuators, number>, value?: number): void;\n  getCtrl(): Float64Array;\n  getControlMap(): ControlGroupInfo;\n  getActuatedJoints(): ActuatedJointInfo[];\n  resolveControlGroup(selector: ControlGroupSelector): ControlGroupInfo | null;\n\n  // Force application (spec 8.1)\n  applyForce(bodyName: Bodies, force: THREE.Vector3, point?: THREE.Vector3): void;\n  applyTorque(bodyName: Bodies, torque: THREE.Vector3): void;\n  setExternalForce(bodyName: Bodies, force: THREE.Vector3, torque: THREE.Vector3): void;\n  applyGeneralizedForce(values: Float64Array | number[]): void;\n\n  // Sensors (spec 2.1)\n  getSensorData(name: Sensors): Float64Array | null;\n\n  // Contacts (spec 2.4)\n  getContacts(): ContactInfo[];\n\n  // Model introspection (spec 5.1, 5.2)\n  getBodies(): BodyInfo[];\n  getJoints(): JointInfo[];\n  getGeoms(): GeomInfo[];\n  getSites(): SiteInfo[];\n  getActuators(): ActuatorInfo[];\n  getSensors(): SensorInfo[];\n  getCameras(): CameraInfo[];\n\n  // Model parameters (spec 5.3)\n  getModelOption(): ModelOptions;\n  setGravity(g: [number, number, number]): void;\n  setTimestep(dt: number): void;\n\n  // Raycasting (spec 7.1)\n  raycast(origin: THREE.Vector3, direction: THREE.Vector3, maxDist?: number): RayHit | null;\n\n  // Keyframes (spec 4.2)\n  getKeyframeNames(): string[];\n  getKeyframeCount(): number;\n\n  // Model loading (spec 9.1)\n  loadScene(newConfig: SceneConfig): Promise<void>;\n  loadFromFiles(files: FileList | readonly LocalMujocoFile[], options?: LoadFromFilesOptions): Promise<void>;\n  addBody(body: SceneObject): Promise<void>;\n  removeBody(name: Bodies): Promise<void>;\n  recompile(patches?: XmlPatch[]): Promise<void>;\n\n  // Canvas\n  getCanvas(): HTMLCanvasElement | null;\n  getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;\n  captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;\n  captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;\n  captureCameraFrame(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;\n  captureCameraFrameBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;\n  recordCameraSequence(options: CameraFrameSequenceOptions): Promise<CameraFrameSequenceResult>;\n  project2DTo3D(\n    x: number,\n    y: number,\n    cameraPos: THREE.Vector3,\n    lookAt: THREE.Vector3\n  ): { point: THREE.Vector3; bodyId: number; geomId: number } | null;\n\n  // Domain randomization (spec 10.3)\n  setBodyMass(name: Bodies, mass: number): void;\n  setGeomFriction(name: Geoms, friction: [number, number, number]): void;\n  setGeomSize(name: Geoms, size: [number, number, number]): void;\n\n  // Internal refs for advanced use\n  readonly mjModelRef: React.RefObject<MujocoModel | null>;\n  readonly mjDataRef: React.RefObject<MujocoData | null>;\n}\n\nexport type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';\n\nexport type FrameCaptureTarget =\n  | HTMLCanvasElement\n  | HTMLElement\n  | null\n  | undefined;\n\nexport type FrameCaptureTargetRef =\n  React.RefObject<HTMLCanvasElement | HTMLElement | null>;\n\nexport interface FrameCaptureOptions {\n  target?: FrameCaptureTarget | FrameCaptureTargetRef;\n  type?: string;\n  quality?: number;\n  waitForAnimationFrame?: boolean;\n}\n\nexport type MujocoFrameCaptureOptions = Omit<FrameCaptureOptions, 'target'>;\n\nexport interface FrameCaptureResult {\n  canvas: HTMLCanvasElement;\n  dataUrl: string;\n  type: string;\n}\n\nexport interface FrameCaptureBlobResult {\n  canvas: HTMLCanvasElement;\n  blob: Blob;\n  type: string;\n}\n\nexport interface FrameCaptureAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isCapturing: boolean;\n  capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;\n  captureBlob: (\n    options?: FrameCaptureOptions\n  ) => Promise<FrameCaptureBlobResult>;\n  reset: () => void;\n}\n\nexport type CameraFrameCaptureVector3 =\n  | THREE.Vector3\n  | readonly [number, number, number];\n\nexport type CameraFrameCaptureQuaternion =\n  | THREE.Quaternion\n  | readonly [number, number, number, number];\n\nexport interface CameraFrameCaptureOptions {\n  /** Existing Three camera to clone before applying pose overrides. */\n  camera?: THREE.Camera;\n  /** Named MuJoCo `<camera>` to render from when available in the loaded model. */\n  cameraName?: Cameras;\n  /** Named MuJoCo site to use as the rendered camera pose. Useful for robot-mounted optical frames. */\n  siteName?: Sites;\n  /** Named MuJoCo body to use as the rendered camera pose. */\n  bodyName?: Bodies;\n  position?: CameraFrameCaptureVector3;\n  lookAt?: CameraFrameCaptureVector3;\n  quaternion?: CameraFrameCaptureQuaternion;\n  up?: CameraFrameCaptureVector3;\n  width?: number;\n  height?: number;\n  type?: string;\n  quality?: number;\n  fov?: number;\n  near?: number;\n  far?: number;\n  /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */\n  source?: CameraFrameCaptureSource;\n}\n\nexport type CameraFrameCaptureSource =\n  | { kind: 'mujoco-camera'; cameraName: Cameras }\n  | { kind: 'mujoco-site'; siteName: Sites }\n  | { kind: 'mujoco-body'; bodyName: Bodies }\n  | { kind: 'custom-camera' }\n  | { kind: 'explicit-pose' }\n  | { kind: 'fallback-camera' };\n\nexport interface CameraFrameCaptureResult {\n  canvas: HTMLCanvasElement;\n  camera: THREE.Camera;\n  dataUrl: string;\n  type: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureBlobResult {\n  canvas: HTMLCanvasElement;\n  camera: THREE.Camera;\n  blob: Blob;\n  type: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isCapturing: boolean;\n  capture: (\n    options?: CameraFrameCaptureOptions\n  ) => Promise<CameraFrameCaptureResult>;\n  captureBlob: (\n    options?: CameraFrameCaptureOptions\n  ) => Promise<CameraFrameCaptureBlobResult>;\n  reset: () => void;\n}\n\nexport interface CameraFrameSequenceCamera extends CameraFrameCaptureOptions {\n  key: string;\n}\n\nexport interface CameraFrameSequenceFrame {\n  frameIndex: number;\n  time: number;\n  cameras: Record<string, CameraFrameCaptureResult>;\n}\n\nexport interface CameraFrameSequenceCameraSummary {\n  key: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n  frameCount: number;\n  firstFrameIndex: number | null;\n  lastFrameIndex: number | null;\n  firstTimestamp: number | null;\n  lastTimestamp: number | null;\n}\n\nexport interface CameraFrameSequenceSampleInput extends PhysicsStepInput {\n  frameIndex: number;\n  time: number;\n}\n\nexport interface CameraFrameSequenceStepInput extends PhysicsStepInput {\n  frameIndex: number;\n  stepIndex: number;\n  time: number;\n}\n\nexport interface CameraFrameSequenceOptions {\n  cameras: readonly CameraFrameSequenceCamera[];\n  frames: number;\n  /** Number of MuJoCo steps between captured frames. Use 0 for static camera provenance captures. */\n  stepsPerFrame?: number;\n  reset?: boolean;\n  captureInitialFrame?: boolean;\n  retainFrames?: boolean;\n  /**\n   * Require each recorded stream to resolve from exactly one mounted MuJoCo\n   * camera/site/body selector. Defaults to true because sequence recording is\n   * intended for dataset/policy camera streams.\n   */\n  requireMountedSources?: boolean;\n  signal?: AbortSignal;\n  /** Called after stepping and before image capture for this frame. Use this to record synchronized state/action rows. */\n  onSample?: (input: CameraFrameSequenceSampleInput) => void | Promise<void>;\n  /** Called before each MuJoCo step inside sequence recording. Use this to apply policy/control actions. */\n  onBeforeStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n  /** Called after each MuJoCo step inside sequence recording. Use this for step-level telemetry. */\n  onAfterStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n  onFrame?: (frame: CameraFrameSequenceFrame) => void | Promise<void>;\n}\n\nexport interface CameraFrameSequenceResult {\n  frames: CameraFrameSequenceFrame[];\n  cameraKeys: string[];\n  cameraSummaries: Record<string, CameraFrameSequenceCameraSummary>;\n  frameCount: number;\n}\n\nexport interface CameraFrameSequenceRecorderAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isRecording: boolean;\n  record: (options: CameraFrameSequenceOptions) => Promise<CameraFrameSequenceResult>;\n  reset: () => void;\n}\n\n// ---- Canvas Props ----\n\nexport type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {\n  config: SceneConfig;\n  /** R3F content rendered while the MuJoCo WASM module is still loading. */\n  loadingFallback?: ReactNode;\n  onReady?: (input: ReadyCallbackInput) => void;\n  onError?: (error: Error) => void;\n  onStep?: (input: StepCallbackInput) => void;\n  onSelection?: (input: SelectionCallbackInput) => void;\n  // Declarative physics config (spec 1.1)\n  gravity?: [number, number, number];\n  timestep?: number;\n  substeps?: number;\n  paused?: boolean;\n  speed?: number;\n  interpolate?: boolean;\n};\n\n// ---- Hook Return Types ----\n\nexport interface SitePositionResult {\n  position: React.RefObject<THREE.Vector3>;\n  quaternion: React.RefObject<THREE.Quaternion>;\n}\n\nexport interface MujocoContextValue {\n  mujoco: MujocoModule | null;\n  status: 'loading' | 'ready' | 'error';\n  error: string | null;\n}\n\n/** @deprecated Use `SensorHandle` instead. */\nexport interface SensorResult {\n  value: React.RefObject<Float64Array>;\n  size: number;\n}\n\nexport interface CtrlHandle {\n  /** Read the current ctrl value. */\n  read(): number;\n  /** Write a ctrl value (goes directly to data.ctrl). */\n  write(value: number): void;\n  /** Actuator name. */\n  name: Actuators;\n  /** Actuator control range [min, max]. */\n  range: [number, number];\n}\n\nexport interface SensorHandle {\n  /** Read the current sensor data. */\n  read(): Float64Array;\n  /** Sensor dimensionality. */\n  dim: number;\n  /** Sensor name. */\n  name: Sensors;\n}\n\nexport interface BodyStateResult {\n  position: React.RefObject<THREE.Vector3>;\n  quaternion: React.RefObject<THREE.Quaternion>;\n  linearVelocity: React.RefObject<THREE.Vector3>;\n  angularVelocity: React.RefObject<THREE.Vector3>;\n}\n\nexport interface JointStateResult {\n  position: React.RefObject<number | Float64Array>;\n  velocity: React.RefObject<number | Float64Array>;\n}\n","/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport type { ThreeElements } from '@react-three/fiber';\nimport type { ReactNode } from 'react';\nimport { useEffect, useMemo } from 'react';\nimport * as THREE from 'three';\nimport { SplatEnvironmentReadinessStatus } from '../types';\nimport type {\n  PairedSplatEnvironmentConfig,\n  ScenarioMaterialConfig,\n  SceneConfig,\n  SplatCollisionProxyConfig,\n  SplatEnvironmentReadiness,\n  SplatEnvironmentMetadata,\n  SplatEnvironmentMetadataInput,\n  SplatFormat,\n  SplatRendererKind,\n  SplatSceneConfigInput,\n  SplatSceneConfigState,\n  SplatSceneInput,\n  ScenarioLightingPreset,\n  ScenarioLightingProps,\n  SplatEnvironmentProps,\n  VisualScenarioConfig,\n  VisualScenarioEffectsProps,\n} from '../types';\n\nconst DEFAULT_BACKGROUND = '#181a1f';\n\nexport function ScenarioLighting({\n  preset = 'studio',\n  castShadow = true,\n  intensity = 1,\n}: ScenarioLightingProps) {\n  if (preset === 'warehouse') {\n    return (\n      <>\n        <ambientLight intensity={0.18 * intensity} />\n        <directionalLight\n          position={[3.5, -2, 5]}\n          intensity={2.2 * intensity}\n          castShadow={castShadow}\n        />\n        <directionalLight position={[-2, 1.5, 2.5]} intensity={0.25 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'low-light') {\n    return (\n      <>\n        <ambientLight intensity={0.08 * intensity} />\n        <directionalLight\n          position={[2, -2, 3]}\n          intensity={0.75 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[-0.5, -0.8, 1.3]} intensity={0.6 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'splat') {\n    return (\n      <>\n        <ambientLight intensity={0.42 * intensity} />\n        <directionalLight\n          position={[1.8, -2.4, 3.5]}\n          intensity={1.2 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[0.4, 0.2, 1.4]} intensity={0.35 * intensity} />\n      </>\n    );\n  }\n\n  return (\n    <>\n      <ambientLight intensity={0.35 * intensity} />\n      <directionalLight\n        position={[2.5, -3, 4]}\n        intensity={1.6 * intensity}\n        castShadow={castShadow}\n      />\n    </>\n  );\n}\n\nexport function getScenarioBackground(\n  preset: ScenarioLightingPreset | undefined,\n  fallback = DEFAULT_BACKGROUND\n) {\n  if (preset === 'warehouse') return '#20242b';\n  if (preset === 'low-light') return '#0f1115';\n  if (preset === 'splat') return '#1b1f24';\n  return fallback;\n}\n\nexport function getScenarioCameraPosition(\n  basePosition: readonly [number, number, number],\n  scenario?: Pick<VisualScenarioConfig, 'camera'>\n): [number, number, number] {\n  const [x, y, z] = basePosition;\n  const jitter = scenario?.camera?.jitter ?? 0;\n\n  return [\n    Number((x + jitter * 0.6).toFixed(3)),\n    Number((y - jitter * 0.4).toFixed(3)),\n    Number((z + jitter * 0.25).toFixed(3)),\n  ];\n}\n\nexport function VisualScenarioEffects(props: VisualScenarioEffectsProps) {\n  useVisualScenarioEffects(props);\n  return null;\n}\n\nexport function useVisualScenarioEffects({\n  scenario,\n  enabled = true,\n  applyBackground = true,\n  applyFog = true,\n  applyRenderer = true,\n  applyMaterials = true,\n  background,\n  fogNear,\n  fogFar,\n  materialFilter,\n}: VisualScenarioEffectsProps) {\n  const { gl, scene, invalidate } = useThree();\n\n  useEffect(() => {\n    if (!enabled || !scenario) {\n      return undefined;\n    }\n\n    const previousExposure = gl.toneMappingExposure;\n    const previousBackground = scene.background;\n    const previousFog = scene.fog;\n    const materialSnapshots = new Map<\n      THREE.Material,\n      {\n        color?: THREE.Color;\n        roughness?: number;\n        metalness?: number;\n      }\n    >();\n\n    if (applyRenderer) {\n      gl.toneMappingExposure = scenario.camera?.exposure ?? 1;\n    }\n\n    if (applyBackground) {\n      scene.background = new THREE.Color(\n        background ?? getScenarioBackground(scenario.lighting)\n      );\n    }\n\n    if (applyFog) {\n      scene.fog = createScenarioFog(scenario, background, fogNear, fogFar);\n    }\n\n    if (applyMaterials && scenario.materials) {\n      applyScenarioMaterials(scene, scenario, materialSnapshots, materialFilter);\n    }\n\n    invalidate();\n\n    return () => {\n      gl.toneMappingExposure = previousExposure;\n      scene.background = previousBackground;\n      scene.fog = previousFog;\n\n      for (const [material, snapshot] of materialSnapshots) {\n        const mutable = getMutableScenarioMaterial(material);\n        if (!mutable) continue;\n        if (snapshot.color) mutable.color.copy(snapshot.color);\n        if (typeof snapshot.roughness === 'number') {\n          mutable.roughness = snapshot.roughness;\n        }\n        if (typeof snapshot.metalness === 'number') {\n          mutable.metalness = snapshot.metalness;\n        }\n        mutable.needsUpdate = true;\n      }\n\n      invalidate();\n    };\n  }, [\n    applyBackground,\n    applyFog,\n    applyMaterials,\n    applyRenderer,\n    background,\n    enabled,\n    fogFar,\n    fogNear,\n    gl,\n    invalidate,\n    materialFilter,\n    scenario,\n    scene,\n  ]);\n}\n\n/**\n * Renderer-agnostic Gaussian splat environment boundary.\n *\n * This component intentionally does not import a specific 3DGS renderer. Pass a\n * Spark/GaussianSplats3D object as `children` once the app chooses a renderer,\n * and pass MuJoCo/MJCF collision proxy visuals via `collisionProxy`.\n */\nexport function SplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  children,\n  showPlaceholder = true,\n  ...groupProps\n}: SplatEnvironmentProps) {\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const existingUserData =\n    typeof groupProps.userData === 'object' && groupProps.userData !== null\n      ? groupProps.userData\n      : {};\n\n  return (\n    <group\n      {...groupProps}\n      userData={{\n        ...existingUserData,\n        ...metadata.userData,\n      }}\n    >\n      {children}\n      {children || !showPlaceholder ? null : <SplatPlaceholder />}\n      {collisionProxy}\n    </group>\n  );\n}\n\nexport function useSplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n}: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata {\n  const scenarioEnvironment = useMemo(\n    () =>\n      environment ??\n      (scenario\n        ? createPairedSplatEnvironment(scenario, { renderer })\n        : undefined),\n    [environment, renderer, scenario]\n  );\n  const resolvedSrc = src ?? scenarioEnvironment?.splat.src ?? scenario?.splat?.src;\n  const resolvedFormat =\n    format ??\n    scenarioEnvironment?.splat.format ??\n    scenario?.splat?.format ??\n    'spz';\n  const resolvedCollisionProxy =\n    collisionProxy ??\n    scenarioEnvironment?.collisionProxy ??\n    scenario?.splat?.collisionProxy ??\n    undefined;\n  const readiness = useMemo(\n    () =>\n      getSplatEnvironmentReadiness({\n        environment: scenarioEnvironment,\n        scenario,\n        renderer,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n      }),\n    [\n      collisionProxy,\n      renderer,\n      resolvedCollisionProxy,\n      resolvedFormat,\n      resolvedSrc,\n      scenario,\n      scenarioEnvironment,\n    ]\n  );\n\n  return useMemo(\n    () => ({\n      src: resolvedSrc,\n      format: resolvedFormat,\n      collisionProxy: resolvedCollisionProxy,\n      readiness,\n      userData: createSplatEnvironmentUserData({\n        environment: scenarioEnvironment,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n        readiness,\n      }),\n    }),\n    [\n      scenarioEnvironment,\n      resolvedSrc,\n      resolvedFormat,\n      resolvedCollisionProxy,\n      readiness,\n    ]\n  );\n}\n\n/**\n * Resolve a visual scenario's paired splat environment and compose its MJCF\n * collision proxy into a MuJoCo scene config.\n *\n * This hook is renderer-agnostic: apps can use it with Spark, another 3DGS\n * renderer, or their own Three scene objects while keeping physics collision\n * files paired with the visual splat metadata.\n */\nexport function useSplatSceneConfig({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer,\n}: SplatSceneConfigInput): SplatSceneConfigState {\n  const resolvedEnvironment = useMemo(\n    () =>\n      enabled\n        ? environment ??\n          (scenario\n            ? createPairedSplatEnvironment(scenario, { renderer })\n            : undefined)\n        : undefined,\n    [enabled, environment, renderer, scenario]\n  );\n  const readiness = useMemo(\n    () =>\n      getSplatEnvironmentReadiness({\n        environment: resolvedEnvironment,\n        scenario,\n        renderer,\n        enabled,\n      }),\n    [enabled, renderer, resolvedEnvironment, scenario]\n  );\n  const resolvedSceneConfig = useMemo(\n    () =>\n      resolvedEnvironment\n        ? withSplatEnvironment(sceneConfig, resolvedEnvironment)\n        : sceneConfig,\n    [resolvedEnvironment, sceneConfig]\n  );\n\n  return useMemo(\n    () => ({\n      environment: resolvedEnvironment,\n      sceneConfig: resolvedSceneConfig,\n      enabled: enabled && readiness.status !== SplatEnvironmentReadinessStatus.Disabled,\n      readiness,\n    }),\n    [enabled, readiness, resolvedEnvironment, resolvedSceneConfig]\n  );\n}\n\nexport function getSplatEnvironmentReadiness({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n  enabled = true,\n}: {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: Pick<VisualScenarioConfig, 'splat'>;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  enabled?: boolean;\n}): SplatEnvironmentReadiness {\n  const splat = scenario?.splat;\n  const resolvedSrc = src ?? environment?.splat.src ?? splat?.src;\n  const resolvedFormat =\n    format ?? environment?.splat.format ?? splat?.format ?? 'spz';\n  const resolvedRenderer = renderer ?? environment?.splat.renderer;\n  const resolvedCollisionProxy =\n    collisionProxy ?? environment?.collisionProxy ?? splat?.collisionProxy ?? undefined;\n  const requiresCollisionProxy = splat?.requiresCollisionProxy ?? true;\n\n  if (!enabled || (splat && splat.enabled === false && !environment)) {\n    return {\n      status: SplatEnvironmentReadinessStatus.Disabled,\n      ready: false,\n      requiresCollisionProxy,\n      missing: [],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is disabled.',\n    };\n  }\n\n  if (!resolvedSrc) {\n    return {\n      status: SplatEnvironmentReadinessStatus.MissingSplat,\n      ready: false,\n      requiresCollisionProxy,\n      missing: ['splat'],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is missing a visual asset source.',\n    };\n  }\n\n  if (resolvedRenderer === 'spark' && resolvedFormat !== 'spz') {\n    return {\n      status: SplatEnvironmentReadinessStatus.UnsupportedFormat,\n      ready: false,\n      requiresCollisionProxy,\n      missing: [],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: `Spark splat rendering requires .spz assets; received ${resolvedFormat}.`,\n    };\n  }\n\n  if (requiresCollisionProxy && !resolvedCollisionProxy?.xmlPath) {\n    return {\n      status: SplatEnvironmentReadinessStatus.MissingCollisionProxy,\n      ready: false,\n      requiresCollisionProxy,\n      missing: ['collisionProxy'],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is missing paired MJCF collision proxy XML.',\n    };\n  }\n\n  return {\n    status: SplatEnvironmentReadinessStatus.Ready,\n    ready: true,\n    requiresCollisionProxy,\n    missing: [],\n    format: resolvedFormat,\n    renderer: resolvedRenderer,\n    message: requiresCollisionProxy\n      ? 'Splat environment has visual asset and collision proxy metadata.'\n      : 'Splat environment has a visual asset and does not require collision proxy metadata.',\n  };\n}\n\n/**\n * Convert a generic visual scenario splat block into a paired visual/physics\n * environment config. Returns undefined until both the splat asset and MJCF\n * collision proxy are present.\n */\nexport function createPairedSplatEnvironment(\n  scenario: Pick<VisualScenarioConfig, 'id' | 'label' | 'environment' | 'splat'>,\n  options: {\n    id?: string;\n    label?: string;\n    description?: string;\n    renderer?: SplatRendererKind;\n  } = {}\n): PairedSplatEnvironmentConfig | undefined {\n  const splat = scenario.splat;\n  const collisionProxy = splat?.collisionProxy;\n\n  if (!splat?.enabled || !splat.src || !collisionProxy?.xmlPath) {\n    return undefined;\n  }\n\n  return {\n    id: options.id ?? scenario.id ?? 'splat-environment',\n    label: options.label ?? scenario.label ?? 'Gaussian splat environment',\n    description:\n      options.description ??\n      (scenario.environment\n        ? `Visual ${scenario.environment} splat paired with MJCF collision proxy.`\n        : undefined),\n    splat: {\n      src: splat.src,\n      format: splat.format ?? 'spz',\n      renderer: options.renderer,\n    },\n    collisionProxy: {\n      ...collisionProxy,\n      xmlPath: collisionProxy.xmlPath,\n    },\n  };\n}\n\nfunction isPairedSplatEnvironment(input: SplatSceneInput): input is PairedSplatEnvironmentConfig {\n  return !!input && 'collisionProxy' in input && 'splat' in input;\n}\n\nfunction sceneRelativePath(sceneConfig: SceneConfig, path: string): string {\n  const src = sceneConfig.src;\n  if (!src) return path;\n\n  const base = src.endsWith('/') ? src : src + '/';\n  if (path.startsWith(base)) return path.slice(base.length);\n  return path;\n}\n\nfunction uniquePaths(paths: readonly string[]): string[] {\n  const seen = new Set<string>();\n  const result: string[] = [];\n  for (const path of paths) {\n    if (seen.has(path)) continue;\n    seen.add(path);\n    result.push(path);\n  }\n  return result;\n}\n\n/**\n * Compose a MuJoCo scene config with a paired splat collision proxy.\n *\n * This keeps the common hybrid setup declarative:\n * robot XML remains `sceneFile`, the `.spz` remains a visual-only layer, and\n * the paired MJCF collision proxy is added to `environmentFiles`.\n */\nexport function withSplatEnvironment(\n  sceneConfig: SceneConfig,\n  input: SplatSceneInput,\n  options: { renderer?: SplatRendererKind } = {}\n): SceneConfig {\n  const environment = isPairedSplatEnvironment(input)\n    ? input\n    : input\n      ? createPairedSplatEnvironment(input, options)\n      : undefined;\n  const xmlPath = environment?.collisionProxy.xmlPath;\n  if (!xmlPath) return sceneConfig;\n\n  return {\n    ...sceneConfig,\n    environmentFiles: uniquePaths([\n      ...(sceneConfig.environmentFiles ?? []),\n      sceneRelativePath(sceneConfig, xmlPath),\n    ]),\n  };\n}\n\nexport function createSplatEnvironmentUserData({\n  environment,\n  src,\n  format = 'spz',\n  collisionProxy,\n  readiness,\n}: {\n  environment?: PairedSplatEnvironmentConfig;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  readiness?: SplatEnvironmentReadiness;\n}) {\n  return {\n    role: 'splat-environment',\n    environmentId: environment?.id,\n    environmentLabel: environment?.label,\n    splatSrc: src,\n    splatFormat: format,\n    splatRenderer: environment?.splat.renderer,\n    collisionProxyStatus: collisionProxy?.status ?? 'missing',\n    collisionProxyXmlPath: collisionProxy?.xmlPath,\n    collisionProxyPrimitives: collisionProxy?.primitives ?? [],\n    readinessStatus: readiness?.status,\n    readinessMessage: readiness?.message,\n  };\n}\n\nexport function createSparkSplatViewerUrl({\n  viewerUrl,\n  splatSrc,\n}: {\n  viewerUrl: string;\n  splatSrc: string;\n}) {\n  const url = new URL(viewerUrl, 'http://mujoco-react.local');\n  url.searchParams.set('splat', splatSrc);\n  return viewerUrl.startsWith('http') ? url.toString() : `${url.pathname}${url.search}`;\n}\n\nfunction SplatPlaceholder() {\n  return (\n    <group>\n      <mesh position={[0, 0, 1.2]}>\n        <boxGeometry args={[2.4, 2.4, 2.4]} />\n        <meshBasicMaterial\n          color=\"#8b8b8b\"\n          transparent\n          opacity={0.06}\n          wireframe\n          side={THREE.DoubleSide}\n        />\n      </mesh>\n    </group>\n  );\n}\n\nfunction createScenarioFog(\n  scenario: VisualScenarioConfig,\n  background: THREE.ColorRepresentation | undefined,\n  fogNear: number | undefined,\n  fogFar: number | undefined\n) {\n  if (scenario.lighting === 'low-light') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 2.5,\n      fogFar ?? 9\n    );\n  }\n\n  if (scenario.lighting === 'warehouse') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 5,\n      fogFar ?? 16\n    );\n  }\n\n  return null;\n}\n\nfunction applyScenarioMaterials(\n  scene: THREE.Scene,\n  scenario: VisualScenarioConfig,\n  snapshots: Map<\n    THREE.Material,\n    {\n      color?: THREE.Color;\n      roughness?: number;\n      metalness?: number;\n    }\n  >,\n  materialFilter: VisualScenarioEffectsProps['materialFilter']\n) {\n  const materials = scenario.materials;\n  if (!materials) return;\n\n  scene.traverse((object) => {\n    if (!(object instanceof THREE.Mesh)) {\n      return;\n    }\n\n    for (const material of normalizeMaterials(object.material)) {\n      const mutable = getMutableScenarioMaterial(material);\n      if (!mutable) continue;\n      if (materialFilter && !materialFilter({ object, material })) continue;\n\n      if (!snapshots.has(material)) {\n        snapshots.set(material, {\n          color: mutable.color.clone(),\n          roughness: mutable.roughness,\n          metalness: mutable.metalness,\n        });\n      }\n\n      applyScenarioMaterial(mutable, object, scenario, materials);\n    }\n  });\n}\n\nfunction applyScenarioMaterial(\n  material: THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial,\n  object: THREE.Object3D,\n  scenario: VisualScenarioConfig,\n  materials: ScenarioMaterialConfig\n) {\n  const seed = scenario.seed ?? 0;\n  const objectKey = `${scenario.id ?? 'scenario'}:${object.name}:${material.name}:${seed}`;\n  const variation = hashToUnitInterval(objectKey);\n\n  if (materials.randomizeObjectColors) {\n    material.color.setHSL(variation, 0.38, 0.42);\n  }\n\n  if (materials.randomizeTableMaterial) {\n    material.roughness = clamp01(\n      materials.roughness ?? 0.35 + variation * 0.45\n    );\n    material.metalness = clamp01(\n      materials.metalness ?? variation * 0.12\n    );\n  }\n\n  material.needsUpdate = true;\n}\n\nfunction normalizeMaterials(\n  material: THREE.Material | THREE.Material[]\n): THREE.Material[] {\n  return Array.isArray(material) ? material : [material];\n}\n\nfunction getMutableScenarioMaterial(\n  material: THREE.Material\n): THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial | null {\n  if (\n    material instanceof THREE.MeshStandardMaterial ||\n    material instanceof THREE.MeshPhysicalMaterial\n  ) {\n    return material;\n  }\n\n  return null;\n}\n\nfunction hashToUnitInterval(value: string) {\n  let hash = 2166136261;\n  for (let index = 0; index < value.length; index += 1) {\n    hash ^= value.charCodeAt(index);\n    hash = Math.imul(hash, 16777619);\n  }\n  return (hash >>> 0) / 4294967295;\n}\n\nfunction clamp01(value: number) {\n  return Math.max(0, Math.min(1, value));\n}\n\nexport type SplatCollisionProxy = ReactNode | ThreeElements['group'];\n"]}